def __init__(self):
super(SkeletonInput, self).__init__()
if user_tracker is None:
openni2.initialize()
nite2.initialize()
self.smoothed_inputs = SmoothInputs()
self.reset_user_tracker()
def __init__(self):
nite2.initialize()
self.ut = nite2.UserTracker.open_any()
self.pub = rospy.Publisher('skeleton', UserTrackerPoseArray, queue_size=10)
self.rate = rospy.Rate(10)
self.utpa = UserTrackerPoseArray()
self.utp = UserTrackerPose()
self.head_pose = Vector3()
rate = rospy.Rate(100)
def start(self):
openni2.initialize()
nite2.initialize()
self.user_tracker = nite2.UserTracker(None)
self.hand_tracker = nite2.HandTracker(None)
self.hand_tracker.start_gesture_detection(
nite2.c_api.NiteGestureType.NITE_GESTURE_CLICK)
#self.hand_tracker.start_gesture_detection(nite2.c_api.NiteGestureType.NITE_GESTURE_WAVE)
self.hand_listener = HandListener(self.hand_tracker,
self.gesture_received)
self.user_listener = UserListener(self.user_tracker,
self.pose_detected,
self.user_added_callback,
self.user_removed_callback,
self.user_roles_changed)
def __init__(self):
nite2.initialize()
self.ut = nite2.UserTracker.open_any()
self.pub = rospy.Publisher('skeleton', UserTrackerPoseArray, queue_size=1)
self.pub2 = rospy.Publisher('detected', Bool , queue_size=1)
self.pub3 = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
self.rate = rospy.Rate(1000)
self.utpa = UserTrackerPoseArray()
self.utp = UserTrackerPose()
self.h = std_msgs.msg.Header()
self.head_pose = Vector3()
self.detected = False
rate = rospy.Rate(100)
def __init__(self):
nite2.initialize()
self.ut = nite2.UserTracker.open_any()
self.sub = rospy.Subscriber('/usb_cam/image_raw', Image, self.sample_cam_callback, queue_size=1)
#self.pub = rospy.Publisher('skeleton', UserTrackerPoseArray, queue_size=1)
#self.pub2 = rospy.Publisher('detected', Bool , queue_size=1)
self.pub3 = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
self.pub4 = rospy.Publisher('/face/image_raw', Image, queue_size=1)
self.rate = rospy.Rate(100)
self.utpa = UserTrackerPoseArray()
self.utp = UserTrackerPose()
self.h = std_msgs.msg.Header()
self.head_pose = Vector3()
self.bridge = CvBridge()
self.detected = False
rate = rospy.Rate(100)
def __init__(self, *args, **kwargs):
app.Canvas.__init__(self, *args, **kwargs)
self.program = gloo.Program(self.read_shader('1.vert'), self.read_shader('skeleton_video.frag'))
# Fill screen with single quad, fragment shader does all the real work
self.program["position"] = [(-1, -1), (-1, 1), (1, 1),
(-1, -1), (1, 1), (1, -1)]
self.program["frame"] = gloo.Texture2D(shape=(480, 640, 2), format='luminance_alpha')
width, height = self.physical_size
gloo.set_viewport(0, 0, width, height)
self.program['resolution'] = [width, height]
openni2.initialize()
nite2.initialize()
self.user_tracker = nite2.UserTracker(False)
gloo.set_clear_color(color='black')
self._timer = app.Timer('auto', connect=self.update, start=True)
self.show()
def test_nite_bindings(self):
if os.path.exists(self.GEN_ONI):
os.unlink(self.GEN_ONI)
subprocess.check_call(["python", "../bin/build_openni.py"])
self.assertTrue(os.path.exists(self.GEN_ONI))
if os.path.exists(self.GEN_NITE):
os.unlink(self.GEN_NITE)
subprocess.check_call(["python", "../bin/build_nite.py"])
self.assertTrue(os.path.exists(self.GEN_NITE))
from primesense import _nite2
from primesense import nite2
nite2.initialize()
ver = nite2.get_version()
nite2.unload()
self.assertEqual(ver.major, nite2.c_api.NITE_VERSION_MAJOR)
self.assertEqual(ver.minor, nite2.c_api.NITE_VERSION_MINOR)
h_file = os.path.join(config.get("headers", "nite_include_dir"), "NiTE.h")
self.check_unexposed_functions(nite2, _nite2, h_file)
def test_nite_bindings(self):
if os.path.exists(self.GEN_ONI):
os.unlink(self.GEN_ONI)
subprocess.check_call(["python", "../bin/build_openni.py"])
self.assertTrue(os.path.exists(self.GEN_ONI))
if os.path.exists(self.GEN_NITE):
os.unlink(self.GEN_NITE)
subprocess.check_call(["python", "../bin/build_nite.py"])
self.assertTrue(os.path.exists(self.GEN_NITE))
from primesense import _nite2
from primesense import nite2
nite2.initialize()
ver = nite2.get_version()
nite2.unload()
self.assertEqual(ver.major, nite2.c_api.NITE_VERSION_MAJOR)
self.assertEqual(ver.minor, nite2.c_api.NITE_VERSION_MINOR)
h_file = os.path.join(config.get("headers", "nite_include_dir"),
"NiTE.h")
self.check_unexposed_functions(nite2, _nite2, h_file)
def __init__(self, *args, **kwargs):
app.Canvas.__init__(self, *args, **kwargs)
self.raw_depth_program = gloo.Program(read_shader('1.vert'), read_shader('skeleton_video.frag'))
self.skeleton_program = gloo.Program(read_shader('skeleton_bones.vert'), read_shader('skeleton_bones.frag'))
# Fill screen with single quad, fragment shader does all the real work
self.raw_depth_program["position"] = [(-1, -1), (-1, 1), (1, 1),
(-1, -1), (1, 1), (1, -1)]
self.raw_depth_program["frame"] = gloo.Texture2D(shape=(480, 640, 2), format='luminance_alpha')
width, height = self.physical_size
gloo.set_viewport(0, 0, width, height)
self.raw_depth_program['resolution'] = [width, height]
# Set uniform and attribute
self.skeleton_program['a_position'] = gloo.VertexBuffer()
openni2.initialize()
nite2.initialize()
self.user_tracker = nite2.UserTracker(False)
gloo.set_state(clear_color='black', blend=True, blend_func=('src_alpha', 'one_minus_src_alpha'))
self._timer = app.Timer('auto', connect=self.update, start=True)
self.show()
#if you don't run stream.start() it con't read_frame from primesense import nite2 from primesense import openni2 import numpy as np import cv2 import time import matplotlib.pyplot as plt nite2.initialize() op=openni2.Device(None) color_stream = op.create_color_stream() color_stream.set_video_mode(openni2.c_api.OniVideoMode(pixelFormat=openni2.c_api.OniPixelFormat.ONI_PIXEL_FORMAT_RGB888, resolutionX=640, resolutionY=480, fps=30)) color_stream.start() print 'ok' bgr = np.fromstring(color_stream.read_frame().get_buffer_as_uint8(),dtype=np.uint8).reshape(480,640,3) rgb = cv2.cvtColor(bgr,cv2.COLOR_BGR2RGB) print 'ok' #color_stream.stop()
import os from primesense import nite2 nite2.initialize() nite2.get_version() os.chdir(nite2.loaded_dll_directory) #dev = openni2.Device.open_any() #print dev #ut = nite2.UserTracker(dev) ut = nite2.UserTracker.open_any() print ut frm = ut.read_frame() print frm print frm.users print frm.get_depth_frame() ht = nite2.HandTracker.open_any() print ht frm2 = ht.read_frame() print frm2 nite2.unload()
description='Automatic Storage of NI content in OpenNI format')
parser.add_argument('--input', required=True, help="inputfile")
args = parser.parse_args()
myni = os.environ.get("MYNI", ".")
try:
openni2.initialize(
myni) # can also accept the path of the OpenNI redistribution
except:
print "cannot initialize OpenNI2. The OpenNI2 Redist directory should be in the PATH. Use the MYNI environment variable"
raise
try:
nite2.initialize(myni)
except:
print "cannot initialize Nite2"
raise
dev = openni2.Device.open_file(args.input)
print dev.get_sensor_info(openni2.SENSOR_COLOR)
print dev.get_sensor_info(openni2.SENSOR_DEPTH)
print dev.get_device_info()
depth_stream = dev.create_depth_stream()
depth_stream.start()
color_stream = dev.create_color_stream()
color_stream.start()
